相关论文: Inter-winding Distributed Capacitance and Guitar P…

In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…

Guitar tablature transcription is an important but understudied problem within the field of music information retrieval. Traditional signal processing approaches offer only limited performance on the task, and there is little acoustic data…

The occurrence of vacuum arcs or radio frequency (rf) breakdowns is one of the most prevalent factors limiting the high-gradient performance of normal conducting rf cavities in particle accelerators. In this paper, we search for the…

We present the design and implementation of a measurement system that enables parallel drive and detection of small currents and voltages at numerous electrical contacts to a multi-terminal electrical device. This system, which we term a…

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…

While Transformer has become the de-facto standard for speech, modeling upon the fine-grained frame-level features remains an open challenge of capturing long-distance dependencies and distributing the attention weights. We propose…

This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…

Sequential and terminal constraint feasibility of the model predictive control (MPC) play important roles in ensuring MPC control continuity. This study thus investigates these two properties theoretically using an MPC model for vehicle…

Analytical conditions are available for the optimum design of impact absorbers for the case where the host structure is well described as rigid body. Accordingly, the analysis relies on the assumption that the impacts cause immediate…

Previous research has explored the computational expressivity of Transformer models in simulating Boolean circuits or Turing machines. However, the learnability of these simulators from observational data has remained an open question. Our…

Sufficient and necessary conditions for the stability of positive feedback interconnections of negative imaginary systems are derived via an integral quadratic constraint (IQC) approach. The IQC framework accommodates distributed-parameter…

This paper proposes an adaptive tube framework for model predictive control (MPC) of discrete-time linear time-invariant systems subject to parametric uncertainty and additive disturbances. In contrast to conventional tube-based MPC schemes…

The rapid progress seen in terms of large-scale generative AI is largely based on the attention mechanism. It is conversely non-trivial to conceive small-scale applications for which attention-based architectures outperform traditional…

It is well-established that a proportional current control gain emulates a resistor in the converter output impedance. Even though this resistance can provide additional damping to grid resonances, its effect for traditional linear current…

An analytical model of transverse convective instability of a bunch at transition crossing is presented for the microwave case, when the wake is sufficiently short compared with the bunch length. The space charge is assumed to be strong, as…

Resistive switching devices, important for emerging memory and neuromorphic applications, face significant challenges related to control of delicate filamentary states in the oxide material. As a device switches, its rapid conductivity…

We consider the problem of robust and adaptive model predictive control (MPC) of a linear system, with unknown parameters that are learned along the way (adaptive), in a critical setting where failures must be prevented (robust). This…

Measuring human capabilities to synchronize in time, adapt to perturbations to timing sequences or reproduce time intervals often require experimental setups that allow recording response times with millisecond precision. Most setups…